A method of teleoperating a vehicle includes receiving, from a spatial controller, spatial motion data generated from a movement of the spatial controller with respect to a global reference frame, where the movement of the spatial controller is representative of one or more target velocities of a vehicle. The spatial motion data is transformed into a spatial controller reference frame defined with respect to the spatial controller. A first subset of the spatial motion data included in a first horizontal plane of the spatial controller reference frame and a second subset of the spatial motion data that is perpendicular to the first horizontal plane are identified. A target linear velocity of the vehicle in a second horizontal plane in a user interface reference frame of a user interface device controlling the vehicle is calculated using the first subset of the spatial motion data and a target angular velocity of the vehicle in the second horizontal plane is computed using the second subset of the spatial motion data. The target linear velocity and the target angular velocity are transformed into a vehicle reference frame defined with respect to the vehicle. Data indicating the target linear velocity and the target angular velocity is sent to the vehicle such that the vehicle moves in accordance with transformed values of the target linear velocity and the target angular velocity.


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    Title :

    SPATIAL TELEOPERATION OF LEGGED VEHICLES


    Additional title:

    RÄUMLICHE FERNOPERATION VON GEBEINTEN FAHRZEUGEN
    TÉLÉOPÉRATION SPATIALE DE VÉHICULES À JAMBES



    Publication date :

    2025-01-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / F41H Panzerung , ARMOUR / B62D MOTOR VEHICLES , Motorfahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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